CN107243921B - Waist joint for humanoid robot - Google Patents
Waist joint for humanoid robot Download PDFInfo
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- CN107243921B CN107243921B CN201710448688.3A CN201710448688A CN107243921B CN 107243921 B CN107243921 B CN 107243921B CN 201710448688 A CN201710448688 A CN 201710448688A CN 107243921 B CN107243921 B CN 107243921B
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- lifting
- movable platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
The invention relates to the field of robots, in particular to a waist joint for a humanoid robot. The invention is used in the waist joint of the humanoid robot, two lifting mechanisms and a slewing mechanism are arranged between a movable platform and a static platform, the connecting positions of the two lifting mechanisms and the movable platform and the connecting positions of the slewing mechanism and the movable platform are arranged in a triangular manner, and the power sources of the three mechanisms are independent, so that the three mechanisms form a parallel structure integrally and have better load capacity; meanwhile, the pitching and the rolling motion of the movable platform are completed by the cooperation of the two lifting mechanisms, and the rotation of the movable platform is completed by the cooperation of the two lifting mechanisms and the rotation mechanism, so that the motion of the movable platform relative to the static platform with three degrees of freedom is realized, the motion space of the movable platform is close to the motion space of the waist joint of the human body in the motion space, and the requirement on the motion range is met; and two or three mechanisms cooperate to complete the pitching, the tilting and the rotating of the movable platform, and all three mechanisms bear the load, so that the integral load capacity is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a waist joint for a humanoid robot.
Background
The design of the waist joint is an important link in the design of the humanoid robot, and the waist joint can adjust the gravity center of the robot and coordinate the movement between the upper body and the lower limbs. The waist joint can obviously improve the flexibility, the bearing capacity and the motion precision of the motion of the humanoid robot.
Most waist joints adopt a serial mechanism, but most waist joints only have two degrees of freedom due to space limitation, for example, a humanoid robot double-T-shaped waist joint structure in the prior art adopts a double-T-shaped structure to enable the waist joints to have two degrees of freedom of rotation and pitching; because of the series mechanism, the lower motor bears the load of the other motor, which causes a large load to the motor.
The problems of large motor load, high structure height, low bearing capacity and limited motion range of waist joints of the humanoid robot exist at present.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide a waist joint for a humanoid robot, which meets the motion range of the waist joint of a human body and has better bearing capacity.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
the invention provides a waist joint for a humanoid robot, which comprises a movable platform and a static platform, and further comprises: the two lifting mechanisms and the swing mechanism are connected between the movable platform and the static platform, and the connecting positions of the two lifting mechanisms and the movable platform and the connecting positions of the swing mechanism and the movable platform are arranged in a triangular mode; the two lifting mechanisms comprise lifting power sources, and the two lifting power sources are matched to drive the movable platform to pitch and tilt relative to the static platform; the rotary mechanism comprises a rotary power source, the rotary power source is matched with the two lifting power sources, and the movable platform is driven to rotate relative to the static platform.
According to the invention, the lifting power source and the rotary power source are both fixed on the static platform.
According to the invention, the lifting mechanism also comprises a lifting universal joint, a lifting support rod, a composite spherical hinge, a sliding block, a sliding rail and a lifting transmission device; the bottom surface of the movable platform is connected with the top end of the lifting support rod through the lifting universal joint, the bottom end of the lifting support rod is connected with the sliding block through the composite spherical hinge, the sliding block is slidably arranged on the sliding rail, the extending direction of the sliding rail and the static platform form an included angle, the lifting transmission device is connected with the lifting power source and the sliding block, and the lifting power source drives the sliding block to linearly move up and down along the sliding rail through the lifting transmission device.
According to the invention, the extending direction of the slide rail and the included angle of the static platform are acute angles.
According to the invention, the sliding rails of the two lifting mechanisms are arranged in parallel side by side.
According to the invention, two slide rails and two slide blocks are arranged; the composite spherical hinge comprises a sliding block connecting piece, a bearing, a connecting shaft and a universal joint, wherein the sliding block connecting piece is simultaneously connected with two sliding blocks and is connected with an outer ring of the bearing, two ends of the connecting shaft are respectively connected with an inner ring of the bearing and a connecting end of the universal joint, and the other connecting end of the universal joint is connected with the lifting support rod.
According to the invention, the lifting transmission device comprises a synchronous belt transmission assembly, wherein a synchronous belt is positioned between two slide rails, a sliding block connecting piece is connected with the synchronous belt, and the belt surface of the synchronous belt connected with the sliding block connecting piece is parallel to the sliding direction of the sliding block.
According to the invention, the swing mechanism further comprises: the rotary universal joint, the rotary support rod and the rotary transmission device; the bottom surface of the movable platform is connected with the top end of the rotary supporting rod through the rotary universal joint, the bottom end of the rotary supporting rod is connected with the rotary transmission device, the rotary transmission device is connected with the rotary power source, and the rotary transmission device converts the power of the rotary power source into the rotation of the rotary supporting rod along the axis of the rotary supporting rod.
According to the invention, the rotary supporting rod is perpendicular to the static platform.
According to the invention, the slewing mechanism further comprises a bearing seat, a bearing supported in the bearing seat, a sleeve connected below the bearing seat, and an accommodating box connected below the sleeve and accommodating the slewing transmission device, wherein the slewing support rod passes through the bearing, the sleeve and the accommodating box and is connected with the slewing transmission device.
(III) advantageous effects
The invention has the beneficial effects that:
in the waist joint for the humanoid robot, two lifting mechanisms and one rotary mechanism are arranged between the movable platform and the static platform, the connecting positions of the two lifting mechanisms and the movable platform and the connecting positions of the rotary mechanism and the movable platform are arranged in a triangular manner, and power sources of the three mechanisms are independent, so that the three mechanisms are integrally formed into a parallel structure and have better load capacity; meanwhile, the pitching and the rolling motion of the movable platform are completed by the cooperation of the two lifting mechanisms, and the rotation of the movable platform is completed by the cooperation of the two lifting mechanisms and the rotation mechanism, so that the motion of the movable platform relative to the static platform with three degrees of freedom is realized, the motion space of the movable platform is close to the motion space of the waist joint of the human body in the motion space, and the requirement on the motion range is met; and two or three mechanisms cooperate to complete the pitching, the tilting and the rotating of the movable platform, and all three mechanisms bear the load, so that the integral load capacity is improved.
Drawings
Fig. 1 is a schematic perspective view of a waist joint for a humanoid robot provided in the following detailed description;
FIG. 2 is a schematic diagram of a waist joint structure for a humanoid robot according to the following embodiments;
FIG. 3 is a schematic front view of a waist joint for a humanoid robot provided in the following detailed description;
fig. 4 is a schematic side view of a waist joint for a humanoid robot provided in the following detailed description.
[ reference numerals ]
1: a movable platform; 2: a static platform; 3: a lifting mechanism; 31: a lifting power source; 32: a lifting universal joint; 33: lifting the supporting rod; 34: performing composite spherical hinge; 341: a slider connection; 342: a universal joint; 35: a slider; 36: a slide rail; 37: a synchronous belt; 38: synchronous belt mechanism 4: a swing mechanism; 41: a rotary power source; 42: a swivel joint; 43: a rotary support rod; 44: a bearing seat; 45: a sleeve; 46: an accommodating box; 47: and a revolute pair.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. In which directional terms such as "upper", "lower", and the like are used in reference to the orientation shown in fig. 1-4.
Referring to fig. 1 to 4, the present embodiment provides a waist joint for a humanoid robot, which includes a movable platform 1, a stationary platform 2, two lifting mechanisms 3, and a swing mechanism 4. The static platform 2 is used for being connected with a leg mechanism of the humanoid robot, the movable platform 1 is used for being connected with a chest mechanism of the humanoid robot, and the lifting mechanism 3 is connected between the movable platform 1 and the static platform 2 and used for driving the movable platform 1 to pitch (equivalent to forward bending and backward bending of the upper body of a human body relative to the lower body) and tilt (equivalent to leftward and rightward bending of the upper body of the human body relative to the lower body) relative to the static platform 2. The rotating mechanism 4 is connected between the movable platform 1 and the static platform 2 and is used for being matched with the lifting mechanism 3 to drive the movable platform 1 to rotate relative to the static platform 2 (which is equivalent to the leftward twisting and the rightward twisting of the upper body of a human body relative to the lower body), and the connecting positions of the two lifting mechanisms 3 and the movable platform 1 and the connecting positions of the rotating mechanism 4 and the movable platform 1 are arranged in a triangular mode, namely the three connecting positions are connected to form a triangle. Moreover, the two lifting mechanisms 3 respectively comprise a lifting power source 31, and the two lifting power sources 31 are matched to drive the lifting mechanisms 3 to move so as to complete the pitching and side-tilting work of the movable platform 1 relative to the static platform 2; the slewing mechanism 4 comprises a slewing power source 41, and the slewing power source 41 and the two lifting power sources 31 are matched to complete the work of driving the movable platform 1 to slew relative to the static platform 2 by driving the lifting mechanism 3 and the slewing mechanism 4 to move.
Specifically, when the movable platform 1 needs to perform pitching motion, because the height of the connection position between the swing mechanism 4 and the movable platform 1 is unchanged, and the two lifting mechanisms 3 drive the movable platform 1 to move downwards at the same time, the movable platform 1 can rotate downwards by taking the connection position between the swing mechanism 4 and the movable platform 1 as a circle center or a rotating shaft, so as to complete the bending motion; or, the two lifting mechanisms 3 drive the movable platform 1 to move upwards, and the movable platform 1 rotates upwards by taking the connecting position of the rotating mechanism 4 and the movable platform 1 as a circle center or a rotating shaft, so that the backward tilting movement is completed. When needing to roll, two lifting mechanisms 3 respectively drive the movable platform 1 to move upwards and downwards oppositely, or one lifting mechanism 3 is not moved, and the other lifting mechanism 3 drives the movable platform 1 to move upwards and downwards to complete the rolling movement. When the movable platform 1 needs to rotate, the rotating mechanism 4 drives the movable platform 1 to rotate, and the two lifting mechanisms 3 drive the movable platform 1 to move upwards and downwards oppositely, and when the movable platform 1 is driven to rotate only, the lifting mechanisms 3 drive the movable platform 1 to move upwards and downwards in the same way, but actually, the distance from the connecting point of the lifting mechanism 3 and the movable platform 1 to the other end of the lifting mechanism 3 is increased or reduced, so that the movable platform 1 can rotate to cause the large change of the distance. The three motions described above may be implemented separately or coupled together.
Therefore, the power sources of the first mechanism and the third mechanism (the two lifting mechanisms 3 and the one revolving mechanism 4) are independent, and the three mechanisms are integrally formed into a parallel structure, so that the three mechanisms have better load capacity compared with a series structure in the prior art; secondly, the pitching and rolling motions of the movable platform 1 are completed by the two lifting mechanisms 3 in a coordinated manner, and the rotation of the movable platform 1 is completed by the two lifting mechanisms 3 and the rotation mechanism 4 in a coordinated manner, so that the motion of the movable platform 1 relative to the static platform 2 with three degrees of freedom is realized, the motion space is close to the motion space of the waist joint of the human body, and the requirement on the motion range is met; thirdly, the pitching, the side tilting and the rotation of the movable platform 1 are completed by two or three mechanisms in a cooperative mode, the three mechanisms bear loads, the whole load capacity is improved, particularly, the lifting mechanism 3 is matched with the rotating mechanism 4 to complete the rotation, the rotating angle can be improved, and the actual motion situation of the waist joint of a human body is closer to. Fourth, multiple power sources collectively perform a single motion, and the power performance requirements of the power sources (e.g., the power of the motors that are the power sources) are reduced as compared to a single power source that performs a single motion.
Further, in this embodiment, the lifting power source 31 and the rotation power source 41 are both fixed on the stationary platform 2, and the structural height is low, so that the mass of the moving member is effectively reduced, and the waist joint of this embodiment has better dynamic characteristics.
Specifically, the lifting mechanism 3 includes a lifting universal joint 32, a lifting support rod 33, a composite spherical hinge 34, a slider 35, a slide rail 36, and a lifting transmission device, in addition to a lifting power source 31. Wherein, the lifting universal joint 32 connects the bottom surface of the movable platform 1 with the top end of the lifting support rod 33 (i.e. one connecting end of the lifting universal joint 32 is connected with the bottom surface of the movable platform 1, preferably vertically and fixedly connected, and the other connecting end is connected with the lifting support rod 33), the composite spherical hinge 34 connects the bottom end of the lifting support rod 33 with the slide block 35, the slide block 35 is slidably arranged on the slide rail 36, the extending direction of the slide rail 36 forms an included angle with the stationary platform 2, the lifting transmission device is connected with the lifting power source 31 and the slide block 35, the lifting power source 31 drives the slide block 35 to move linearly up and down along the slide rail 36 through the lifting transmission device, and then the lifting support rod 33 is driven to move up and down (possibly vertically or obliquely) by the composite spherical hinge 34, and finally the lifting universal joint 32 drives the connection part of the movable platform 1 connected with the universal joint to move up and down.
More specifically, the included angle between the slide rail 36 and the stationary platform 2 is an acute angle, that is, the slide rail 36 is disposed obliquely, so that the lifting support rod 33 is substantially vertically oriented, and the inclined angle of the lifting support rod 33 is reduced relative to the vertical arrangement of the slide rail 36, so that the whole mechanism has better mechanical properties.
More specifically, the slide rails 36 of the two lifting mechanisms 3 are arranged in parallel side by side, and the connection positions of the two lifting mechanisms 3 and the movable platform 1 and the connection positions of the swing mechanism 4 and the movable platform 1 are isosceles triangles. The whole device is more stable, and the mechanical property is improved.
More specifically, two slide rails 36 and two sliders 35 are provided, the two slide rails 36 are spaced apart, and the two sliders 35 are slidably mounted on the two slide rails 36, respectively. The composite ball hinge 34 includes a slider connector 341, a bearing, a connecting shaft and a universal joint 342, the slider connector 341 is rigidly connected to both sliders 35, the slider connector 341 is connected to the outer ring of the bearing, and both ends of the connecting shaft are respectively connected to the inner ring of the bearing and a connecting end of the universal joint 342, thereby forming a combination of a revolute pair and the universal joint 342, and forming the composite ball hinge 34. The other connecting end of the universal joint 342 is connected with the lifting support bar 33. By adopting the composite spherical hinge 34, three rotational degrees of freedom can be realized, the range of motion is larger, the bearing capacity is also improved, and the composite spherical hinge formed by the slider connecting piece 341, the bearing, the connecting shaft and the universal joint 342 has lower cost.
Preferably, the slider connector 341 is a box, and the bearing and the connecting shaft are both located inside the box.
More specifically, the lifting transmission device includes a synchronous belt transmission assembly, which is an end of the lifting transmission device, for driving the slider 36 to move. Specifically, a driving wheel in the synchronous belt transmission assembly is located at the lower ends of the two slide rails 36, a driven wheel is located at the upper ends of the two slide rails 36, a synchronous belt 37 is located between the two slide rails 36 and sleeved on the driving wheel and the driven wheel, the slider connecting piece 341 is connected with the synchronous belt 37, and a belt surface of the synchronous belt 37 connected with the slider connecting piece 341 is parallel to the sliding direction of the slider 35, so as to ensure that the slider 35 smoothly moves along the slide rails 36.
In addition, the elevating transmission means further includes a transmission mechanism for transmitting the power of the elevating power source 31 to the driving pulley of the synchronous belt transmission assembly, and the transmission mechanism may be determined depending on the type of the elevating power source 31. In this embodiment, the lifting power source 31 is a servo motor, and therefore, the transmission mechanism includes a synchronous belt mechanism 38 and a transmission shaft in this embodiment, a driving wheel of the synchronous belt mechanism 38 is coaxially connected with the output shaft of the lifting power source 31, and a driven wheel of the synchronous belt mechanism 38 is coaxially connected with a driving wheel of the synchronous belt transmission assembly through the transmission shaft. From this, the rotation of the output shaft of lifting power source 31 passes through synchronous belt mechanism 38 and transmits for the transmission shaft, and the transmission shaft drives the action wheel among the synchronous belt drive assembly and rotates, and then drives synchronous belt 37 wherein and rotate, and slider 35 follows synchronous belt 37's rotation and moves from top to bottom along slide rail 36 at last.
The power transmission mode of the synchronous belt is adopted to transmit the power of the lifting power source 31 to the sliding block, and the requirement of subsequent variable rigidity can be met. However, the present invention is not limited to this, and in other embodiments, the elevating power source 31 is not limited to a servo motor, and may be driven hydraulically, pneumatically, or the like, and the elevating transmission device is selected according to the type of the elevating power source 31, as long as the power of the elevating power source 31 can be converted into the power of the slider 35 that slides up and down along the slide rail 36.
Specifically, two triangular supports 5 can be vertically fixed on the stationary platform 2, the two triangular supports 5 are placed in parallel, and all or most of the parts (at least including the slide rail 36 and the synchronous belt transmission assembly) of the two lifting mechanisms 3 are respectively and fixedly connected to the oblique edges of the two triangular supports 5.
Specifically, a box may be provided to cover the drive pulley in the synchronous belt drive assembly and the drive shaft connecting the drive pulley with the synchronous belt mechanism 38. The box is fixed on a triangular bracket 5. The driving wheel of the synchronous belt mechanism 38 is supported on the static platform 2 through a support.
Specifically, the swing mechanism 4 includes a swing universal joint 42, a swing support rod 43, and a swing transmission in addition to the swing power source 41. The bottom surface that gyration universal joint 42 will move platform 1 links together with the top of gyration bracing piece 43 (i.e. a link of gyration universal joint 42 is connected with the bottom surface that moves platform 1, preferably perpendicular fixed connection, the top of another link gyration bracing piece 43 is connected), the bottom and the slewing transmission device of gyration bracing piece 43 are connected, slewing transmission device is connected with gyration power supply 41, slewing transmission device turns into the rotation of gyration bracing piece 43 with gyration power supply 41's power, and then gyration bracing piece 43 drives gyration universal joint 42 and rotates, gyration universal joint 42 drives and moves platform 1 lateral rotation.
Preferably, the rotating support rod 43 is perpendicular to the static platform 2, and has good mechanical properties.
More specifically, the swing mechanism 4 further includes a bearing housing 44, a bearing supported in the bearing housing 44, a sleeve 45 connected below the bearing housing 44, and a housing box 46 connected below the sleeve 45 and housing the swing transmission, and the swing support rod 43 is connected to the swing transmission through the bearing, the sleeve 45, and the housing box 46. Preferably, the bearings in the bearing housing 44 are needle bearings, which are subjected to the greater pressure from the robotic platform 1. Thus, the rotary support rod 43 and the bearing and bearing seat 44 constitute a revolute pair 47.
The rotary power source 41 may be a servo motor, and correspondingly, the rotary transmission device may be a synchronous belt transmission device, the servo motor is vertically disposed, an output shaft of the servo motor vertically extends, a driving wheel in the synchronous belt transmission device is coaxially connected with the output shaft, a driven wheel is coaxially connected with a bottom end of the rotary support rod 43, and a synchronous belt is sleeved on the driving wheel and the driven wheel. Of course, the turning power source 41 is not limited to a servo motor, but may be a hydraulic drive, a pneumatic drive, or the like, and the turning transmission device is selected in accordance with the type of the turning power source 41 as long as it can convert the power of the turning power source 41 into the rotation of the turning support rod 43 about its axis. In summary, the movement process of the waist joint of the present embodiment is generally described: the movement process of the lifting mechanism 3 is as follows: the rotation of the lifting power source 31 drives the driving wheel of the synchronous belt mechanism 38, the driving wheel drives the driven wheel of the synchronous belt mechanism 38 to rotate through the synchronous belt, the driven wheel drives the driving wheel of the synchronous belt transmission assembly to rotate through the transmission shaft, the driving wheel drives the synchronous belt 37 to rotate, the synchronous belt 37 rotates to drive the sliding block 35 connected to the belt surface to move up and down along the sliding rail 36, the movement of the sliding block 35 drives the composite spherical hinge 34 to move up and down, the composite spherical hinge 34 drives the lifting support rod 33 to move up and down, the lifting support rod 33 drives the lifting universal joint 32 to move up and down, and the lifting support.
The movement process of the slewing mechanism 4 is as follows: the rotation of the rotary power source 41 drives the rotary supporting rod 43 to rotate, the rotation of the rotary supporting rod 43 drives the rotary universal joint 42 to rotate, and the rotary universal joint 42 drives the position of the movable platform 1 connected with the movable platform to rotate.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (4)
1. A waist joint for humanoid robot, including moving platform (1) and quiet platform (2), its characterized in that still includes:
the two lifting mechanisms (3) and the swing mechanism (4) are connected between the movable platform (1) and the static platform (2), and the connecting positions of the two lifting mechanisms (3) and the movable platform (1) and the connecting positions of the swing mechanism (4) and the movable platform (1) are arranged in a triangular mode;
the two lifting mechanisms (3) comprise lifting power sources (31), and the two lifting power sources (31) are matched to drive the movable platform (1) to pitch and roll relative to the static platform (2);
the rotating mechanism (4) comprises a rotating power source (41), the rotating power source (41) is matched with the two lifting power sources (31) to drive the movable platform (1) to rotate relative to the static platform (2);
the slewing mechanism (4) further comprises:
a rotary universal joint (42), a rotary support rod (43) and a rotary transmission device;
the rotary universal joint (42) connects the bottom surface of the movable platform (1) with the top end of the rotary supporting rod (43), the bottom end of the rotary supporting rod (43) is connected with the rotary transmission device, the rotary transmission device is connected with the rotary power source (41), and the rotary transmission device converts the power of the rotary power source (41) into the rotation of the rotary supporting rod (43) along the axis of the rotary supporting rod;
the slewing mechanism (4) further comprises a bearing seat (44), a bearing supported in the bearing seat (44), a sleeve (45) connected below the bearing seat (44), and an accommodating box connected below the sleeve (45) and accommodating the slewing transmission device, wherein the slewing supporting rod (43) penetrates through the bearing, the sleeve (45) and the accommodating box (46) to be connected with the slewing transmission device;
the lifting mechanism (3) further comprises a lifting universal joint (32), a lifting support rod (33), a composite spherical hinge (34), a sliding block (35), a sliding rail (36) and a lifting transmission device;
the bottom surface of the movable platform (1) is connected with the top end of the lifting support rod (33) through the lifting universal joint (32), the bottom end of the lifting support rod (33) is connected with the sliding block (35) through the composite spherical hinge (34), the sliding block (35) is slidably arranged on the sliding rail (36), the extending direction of the sliding rail (36) forms an included angle with the static platform (2), the lifting transmission device is connected with the lifting power source (31) and the sliding block (35), and the lifting power source (31) drives the sliding block (35) to linearly move up and down along the sliding rail (36) through the lifting transmission device;
an included angle between the extending direction of the slide rail (36) and the static platform (2) is an acute angle;
the sliding rails (36) of the two lifting mechanisms (3) are arranged in parallel side by side;
two slide rails (36) and two slide blocks (35) are arranged;
the composite spherical hinge (34) comprises a sliding block connecting piece (341), a bearing, a connecting shaft and a universal joint (342), the sliding block connecting piece (341) is simultaneously connected with two sliding blocks (35) and is connected with an outer ring of the bearing, two ends of the connecting shaft are respectively connected with an inner ring of the bearing and a connecting end of the universal joint (342), and the other connecting end of the universal joint (342) is connected with the lifting support rod (33).
2. The waist joint for a humanoid robot as claimed in claim 1,
the lifting power source (31) and the rotary power source (41) are both fixed on the static platform (2).
3. The waist joint for a humanoid robot as claimed in claim 1,
lifting gearing includes the synchronous belt drive subassembly, and hold-in range (37) wherein are located two between slide rail (36), slider connecting piece (341) with hold-in range (37) are connected, and hold-in range (37) with the area face that slider connecting piece (341) are connected is on a parallel with the slip direction of slider (35).
4. The waist joint for a humanoid robot as claimed in claim 1,
the rotary supporting rod (43) is perpendicular to the static platform (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710448688.3A CN107243921B (en) | 2017-06-14 | 2017-06-14 | Waist joint for humanoid robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710448688.3A CN107243921B (en) | 2017-06-14 | 2017-06-14 | Waist joint for humanoid robot |
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| CN107243921A CN107243921A (en) | 2017-10-13 |
| CN107243921B true CN107243921B (en) | 2020-04-14 |
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| CN201710448688.3A Active CN107243921B (en) | 2017-06-14 | 2017-06-14 | Waist joint for humanoid robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127640B (en) * | 2018-02-06 | 2023-12-12 | 东北大学 | Wheel type humanoid robot with large-angle bending function |
| CN109895109B (en) * | 2019-03-01 | 2021-03-16 | 达闼科技（北京）有限公司 | Robot waist skeleton and robot |
| CN110355663B (en) * | 2019-07-10 | 2020-12-18 | 华中科技大学 | Variable-rigidity grinding device |
| CN110253625B (en) * | 2019-07-11 | 2020-10-16 | 北京理工大学 | Humanoid robot waist joint and humanoid robot |
| CN116423530A (en) * | 2022-01-04 | 2023-07-14 | 腾讯科技（深圳）有限公司 | Waist structure of robot and robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08229871A (en) * | 1995-02-28 | 1996-09-10 | Mitsubishi Heavy Ind Ltd | Robot neck-body mechanism device |
| CN1092092C (en) * | 2000-04-21 | 2002-10-09 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN201579789U (en) * | 2009-12-15 | 2010-09-15 | 汕头大学 | Three-rotational DOF parallel-connection robot |
| CN102708723B (en) * | 2012-05-18 | 2014-03-12 | 燕山大学 | Six-freedom-degree static-balance parallel motion simulation platform with large bearing surface |
| CN202593869U (en) * | 2012-06-01 | 2012-12-12 | 王海东 | Two-shaft rotational swing test platform |
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